Do you have tips to come while wearing jeans and in a car? We don’t want to get naked outside of course. Just something to release quickly. Sometimes he sees someone pretty and wants me to have to pleasure of releasing it for him, not the other lady. If it helps to put a context.
You could slide a bullet vibe inside your knickers?
I don’t usually bring it outside the home. Won’t help his release in any case
Just unzip the jeans to gain access and get busy. 
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You could always buy him a remote vibrating toy that he can wear.
Would definitely recommend a vibrating toy or cock ring, there are many available and they should get the job done. My boyfriend likes them and has a couple he uses as we don’t live together yet. He says he usually wears one when he is at home in his room and under his clothes, usually before bed and it will make him cum in his shorts / pants, which he seems to like.
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